CN112749504A - Method and device for acquiring simulated scanning point, electronic equipment and storage medium - Google Patents
Method and device for acquiring simulated scanning point, electronic equipment and storage medium Download PDFInfo
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- CN112749504A CN112749504A CN202110359155.4A CN202110359155A CN112749504A CN 112749504 A CN112749504 A CN 112749504A CN 202110359155 A CN202110359155 A CN 202110359155A CN 112749504 A CN112749504 A CN 112749504A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/25—Design optimisation, verification or simulation using particle-based methods
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The method comprises the steps of carrying out light scanning on an object model in a simulation environment through a light scanning unit to obtain a scanning point set and a light path set corresponding to a scanning point in the scanning point set, configuring an interference particle model in the simulation environment according to received configuration information, determining an interference scanning point corresponding to a target light path at a first preset moment after a plurality of interference particles move, and finally removing the interference scanning point from the scanning point set to obtain the simulation scanning point set at the first preset moment. According to the method and the device, the influence of the interference particles running in the interference particle model on the light scanning result is utilized, the simulation data of the light scanning unit in the simulation environment configured with the interference particle model is obtained, and the truth of the simulation data is improved.
Description
Technical Field
The present application relates to the field of simulation, and in particular, to a method and an apparatus for acquiring a simulated scanning point, an electronic device, and a storage medium.
Background
With the development of society, laser radar detection technology has been widely applied to various aspects of life, wherein laser radar detection technology is particularly important in the field of automatic driving, laser radar detection is equivalent to eyes of automobiles, people have higher and higher requirements on detection results, and people hope to obtain more real detection data, and people usually use a simulation method to obtain the detection data of laser radar in order to save cost.
In the existing scheme, a laser radar detects photons with a certain wavelength emitted to a single environment, the photons intersect with objects in the environment, and position coordinates of intersection points are obtained through calculation, so that laser radar simulation data are obtained.
In the research and practice process of the existing scheme, the inventor of the application finds that the lidar simulation in the existing scheme can only obtain data under some common weather environments, and does not consider some interference environments such as extreme weather, and the like, such as: the influence of rain, snow, fog and the like on the detection of the laser radar is avoided, so that the simulation data obtained by the laser radar simulation method in the existing scheme is low in fidelity.
Disclosure of Invention
The application provides a method and a device for acquiring a simulation scanning point, electronic equipment and a storage medium, which are used for solving the problem of low fidelity of current laser radar simulation data.
In a first aspect, the present application provides a method for acquiring a simulated scanning point, including:
performing light scanning on an object model in a simulation environment through a light scanning unit to obtain a scanning point set and a light path set corresponding to scanning points in the scanning point set;
configuring an interference particle model in the simulation environment according to the received configuration information, wherein interference particles in the interference particle model are moving particles;
at a first preset moment after the interference particles move, judging whether a target light path in the light path set exists or not when the target interference particles move;
if so, determining an interference scanning point corresponding to the target light path;
and removing the interference scanning points from the scanning point set to obtain a simulation scanning point set at the first preset moment.
Optionally, in some possible implementations of the present application, the step of determining whether there is a target interfering particle moving to a target light path in the light path set includes:
determining position information of the interference particles, position information of the light scanning unit and position information of the scanning point;
determining path information of a light path in the light path set according to the position information of the light scanning unit and the position information of the scanning point;
judging whether a target light path exists in the light path set, wherein the target light path is formed by the movement of the target interference particles to the light path set;
and if so, executing the step of determining the interference scanning point corresponding to the target light path.
Optionally, in some possible implementations of the present application, the step of determining the position information of the interfering particle includes:
determining the mass of the interference particles according to the radius of the interference particles and the density of the interference particles in the configuration information;
determining the acceleration of the interference particles according to the mass of the interference particles and the magnitude and direction of wind force in a wind vector field in the interference particle model;
and determining the position information of the interference particles according to the initial velocity of the interference particles and the acceleration of the interference particles in the configuration information.
Optionally, in some possible implementations of the present application, the step of configuring an interference particle model in the simulation environment includes:
determining an action space of interference particles in an interference particle model to be configured;
configuring the interference particle model in the action space of the simulation environment.
Optionally, in some possible implementations of the present application, after the step of removing the interference scanning point from the scanning point set to obtain the simulated scanning point set at the first preset time, the method further includes:
acquiring a first quantity value of simulation scanning points in the simulation scanning point set;
acquiring a second numerical value of the scanning points in the scanning point set;
and determining a value obtained by dividing the first numerical value by the second numerical value as a first signal-to-noise ratio of the light scanning unit at the first preset moment.
Optionally, in some possible implementation manners of the present application, the method for acquiring a simulated scanning point further includes:
acquiring a plurality of second signal-to-noise ratios of the light scanning unit at a plurality of second preset moments, wherein the second preset moments are second preset moments after the interference particles move;
determining signal-to-noise ratio trend data corresponding to the simulation environment according to the first signal-to-noise ratio, the second signal-to-noise ratios, the first preset time and the second preset times;
acquiring target signal-to-noise ratio trend data corresponding to a target environment;
and determining configuration information of an interference particle model to be configured in the target environment according to the target signal-to-noise ratio trend data and the matching degree of the signal-to-noise ratio trend data.
The application provides an acquisition device of emulation scanning point, it includes:
the scanning unit is used for carrying out light scanning on the object model in the simulation environment through the light scanning unit to obtain a scanning point set and a light path set corresponding to scanning points in the scanning point set;
a configuration unit, configured to configure an interference particle model in the simulation environment according to the received configuration information, where an interference particle in the interference particle model is a moving particle;
the judging unit is used for judging whether a target light path exists at a first preset moment after the interference particles move and the target light path in the light path set is moved;
the first determining unit is used for determining an interference scanning point corresponding to the target light path if the interference scanning point exists;
and the eliminating unit is used for eliminating the interference scanning points from the scanning point set to obtain the simulation scanning point set at the first preset moment.
In one embodiment, the apparatus for acquiring a simulated scanning point further includes:
a first obtaining subunit, configured to obtain a first quantity value of a simulated scanning point in the set of simulated scanning points;
a second obtaining subunit, configured to obtain a second numerical value of a scanning point in the scanning point set;
a second determining subunit, configured to determine a value obtained by dividing the first numerical value by the second numerical value as a first signal-to-noise ratio of the light scanning unit at the first preset time.
In one embodiment, an apparatus for acquiring a simulated scanning spot includes:
a third obtaining unit, configured to obtain a plurality of second signal-to-noise ratios of the light scanning unit at a plurality of second preset times, where the second preset times are second preset times after the interference particles move;
a third determining unit, configured to determine, according to the first signal-to-noise ratio, the plurality of second signal-to-noise ratios, the first preset time, and the plurality of second preset times, signal-to-noise ratio trend data corresponding to the simulation environment;
the fourth acquisition unit is used for acquiring target signal-to-noise ratio trend data corresponding to a target environment;
and the fourth determining unit is used for determining the configuration information of the interference particle model to be configured in the target environment according to the target signal-to-noise ratio trend data and the matching degree of the signal-to-noise ratio trend data.
In an embodiment, the configuration unit is configured to: determining an action space of interference particles in an interference particle model to be configured; configuring the interference particle model in the action space of the simulation environment.
In one embodiment, the determining unit is configured to: determining position information of the interference particles, position information of the light scanning unit and position information of the scanning point; determining path information of a light path in the light path set according to the position information of the light scanning unit and the position information of the scanning point; judging whether a target light path exists in the light path set, wherein the target light path is formed by the movement of the target interference particles to the light path set; and if so, executing the step of determining the interference scanning point corresponding to the target light path.
The application provides an electronic device, which comprises a processor and a memory, wherein the memory stores a plurality of instructions, and the instructions are suitable for the processor to load so as to execute the steps of the method.
The present application provides a computer readable storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor for performing the steps of the above-described method.
A computer program product or computer program is provided, the computer program product or computer program comprising computer instructions, the computer instructions being stored in a computer readable storage medium; the processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the steps of the method.
Has the advantages that: the method comprises the steps of firstly carrying out light scanning on an object model in a simulation environment through a light scanning unit to obtain a scanning point set and a light path set corresponding to a scanning point in the scanning point set, then configuring an interference particle model in the simulation environment according to received configuration information, judging whether a target interference particle moves to a target light path in the light path set at a first preset moment after the interference particle moves, if so, determining an interference scanning point corresponding to the target light path, and finally removing the interfered scanning point from the scanning point set to obtain the simulation scanning point set at the first preset moment. Considering that interference factors such as weather conditions can greatly affect the effective detection range and precision of the light scanning unit, the interference particle model is added into the simulation system, the interference factors such as the weather conditions are simulated by using particles running in the interference particle model, the simulation data of the light scanning unit in the simulation environment configured with the interference particle model is obtained, and the truth of the simulation data is improved.
Drawings
In order to more clearly illustrate the technical solutions in the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1a is a schematic view of a scene of the system for acquiring a simulated scanning point provided in the present application.
Fig. 1b is a schematic view of another scene of the acquisition system of the simulated scanning point provided in the present application.
Fig. 2 is a flowchart illustrating a method for acquiring a simulated scanning point according to the present application.
Fig. 3 is another schematic diagram of the method for acquiring the simulated scanning point provided by the present application.
Fig. 4a is a schematic structural diagram of an apparatus for acquiring a simulated scanning spot provided in the present application.
Fig. 4b is a schematic structural diagram of another apparatus for acquiring a simulated scanning spot provided in the present application.
Fig. 5 is a schematic structural diagram of another apparatus for acquiring a simulated scanning spot according to the present application.
Fig. 6a is a schematic diagram of the distribution of the horizontal beam of the lidar provided by the present application.
Fig. 6b is a schematic diagram of a distribution of vertical laser beams of the lidar provided in the present application.
Fig. 7 is a schematic diagram of the movement of particles in the perturbed particle model provided in the present application.
Fig. 8a is a schematic diagram of a method for calculating a matching degree between target signal-to-noise ratio trend data and signal-to-noise ratio trend data provided by the present application.
Fig. 8b is another schematic diagram of the method for calculating the matching degree between the target signal-to-noise ratio trend data and the signal-to-noise ratio trend data provided by the present application.
Fig. 9 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
The technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "first," "second," and the like in the description and in the claims, and in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order, it being understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein are capable of operation in other sequences than described or illustrated in the drawings. Furthermore, the terms "comprises" and any variations thereof, are intended to cover non-exclusive inclusions.
In this application, light scanning unit refers to and utilizes the light of launching to survey the object to the scanning unit of information such as position, material of object that can derive, include but not be limited to laser radar, for the explanation convenience, in this application light scanning unit is laser radar.
In the present application, the object model represents a point set of an object in space, and is a 3D object model composed of points and planes in space.
In the present application, a laser radar (LIDAR) mainly refers to a detection unit that detects a characteristic amount such as a position, a velocity, and the like of an object with a transmission laser beam. The working principle is to transmit a detection signal (laser beam) to a target, then compare the received signal (target echo) reflected from the target with the transmitted signal, and after appropriate processing, obtain information about the target, such as: target distance, orientation, altitude, speed, attitude, and even shape.
In the application, the disturbing particle model simulates the behavior of a certain number of particles with given initial conditions in a certain space by modeling a small particle collision model, and the particles moving in the disturbing particle model can be particles simulating weather conditions such as rain, snow, fog and the like.
Referring to fig. 1a and 1b, fig. 1a and 1b are schematic views of a scene of a system for acquiring a simulated scan point provided in the present application, as shown in fig. 1a, the light scanning unit is a laser radar, the object model is a cube ABCD-EFGH, the laser radar emits a light beam to the cube ABCD-EFGH in the simulation environment to perform light scanning, as shown in fig. 1b, the light scanning unit is a laser radar, the object model is a cube ABCD-EFGH, the action space of the interference particle model is a cube HIGK-LMNO, the black dots in the figure are particles in an interference particle model, the laser radar emits light beams to a cube ABCD-EFGH in the simulation environment to perform light scanning, the action space of the interference particle model is not only larger than or equal to the size of the object model, but also larger than or equal to the detection range of the laser radar.
The method for acquiring the simulation scanning point comprises the following steps: firstly, carrying out light scanning on an object model ABCD-EFGH in a simulation environment through a laser radar to obtain a scanning point set and a light path set corresponding to a scanning point in the scanning point set, then configuring an interference particle model HIGK-LMNO in the simulation environment according to received configuration information, judging whether a target interference particle moves to a target light path in the light path set at a first preset time after the interference particle moves, if so, determining an interference scanning point corresponding to the target light path, and finally removing the disturbed scanning point from the scanning point set to obtain the simulation scanning point set at the first preset time. Considering that the weather condition can have great influence on the effective detection range and the accuracy of the laser radar, the method adds the interference particle model into the simulation system, utilizes the particles running in the interference particle model to simulate extreme weather such as rain, snow, fog and the like, obtains simulation data of the laser radar in some extreme weather, and improves the truth of the simulation data. It should be noted that, in the present application, a plurality of preset times may be set, and each preset time may perform the above-mentioned acquisition process of the simulated scanning points, so as to acquire a set of simulated scanning points at different preset times.
It should be noted that the system scenario diagrams shown in fig. 1a and fig. 1b are only an example, and the scenario described in this application is for more clearly illustrating the technical solution of this application, and does not constitute a limitation to the technical solution provided in this application, and as a person having ordinary skill in the art knows, the technical solution provided in this application is also applicable to similar technical problems as the system evolves and new business scenarios appear.
The following are detailed below. The numbers in the following examples are not intended to limit the order of preference of the examples.
Fig. 2 is a schematic flow chart of a method for acquiring a simulated scanning point according to the present application; referring to fig. 2, the method for obtaining the simulated scanning point includes:
in step 201, an object model in a simulation environment is subjected to light scanning by a light scanning unit, so as to obtain a scanning point set and a light path set corresponding to a scanning point in the scanning point set.
In one embodiment, as shown in fig. 1a, the light scanning unit is a laser radar, the object model is a cube ABCD-EFGH, and the laser radar emits a light beam to the cube ABCD-EFGH in the simulation environment to perform light scanning, as shown in fig. 1a, a black solid line in the figure is a scanning light beam emitted by the laser radar, wherein an intersection point of the scanning light beam and the cube ABCD-EFGH is A, B, C, D, E, F, G, H points, the 8 points are scanning points, and a light path G1 corresponding to the scanning point a is a light beam emitted by the laser radar to the scanning point a; a light ray passage G2 corresponding to the scanning point B is a light ray emitted to the scanning point B by the laser radar; the light path G3 corresponding to the scanning point C is the light emitted from the laser radar to the scanning point C, and so on, and the light path G6 corresponding to the scanning point F is the light emitted from the laser radar to the scanning point F. The finally obtained scanning point set is ABCDEFGH, the light path set corresponding to the scanning point is G1G2G3G4G5G6G7G8, the number of the scanning points obtained by scanning the laser radar in an actual scene is large, and only 8 points are selected for convenience of description.
In step 202, according to the received configuration information, an interfering particle model is configured in the simulation environment, and interfering particles in the interfering particle model are moving particles.
The step of configuring an interference particle model in the simulation environment includes: determining an action space of interference particles in an interference particle model to be configured; configuring the interference particle model in the action space of the simulation environment.
The step of determining the action space of the interference particles in the interference particle model to be configured comprises: acquiring a detection range of the light scanning unit; and determining the detection range as an action space of the interference particles in the interference particle model to be configured.
In an embodiment, as shown in fig. 6a, a schematic horizontal line beam distribution diagram of the lidar provided by the present application is shown, where a cylinder in the diagram represents the lidar, and a solid line represents light emitted by the lidar, where a farthest point that can be detected by a 1 st scanning line is a point B, a farthest point that can be detected by a 2 nd scanning line is a point Z, a farthest point that can be detected by a 3 rd scanning line is a point a, a circle formed by a dotted line represents a horizontal detection range of the lidar, horizontal angles a and B determine accuracy of detection of the lidar, and the smaller the angle, the higher the accuracy of detection of the lidar is.
In an embodiment, as shown in fig. 6b, a schematic vertical beam distribution diagram of the lidar provided by the present application is shown, in which a column represents the lidar and a solid line represents light emitted by the lidar, where farthest points detectable by the scanning lines of the layer 1 are point L1 and point L2, farthest points detectable by the scanning lines of the layer 2 are point M1 and M2, farthest points detectable by the scanning lines of the layer 3 are point N1 and point N2, circular arcs of dashed lines represent a vertical detection range of the lidar, vertical angles c and d determine detection accuracy of the lidar, and the smaller the angle, the higher the detection accuracy of the lidar, the horizontal detection range and the vertical detection range of the lidar jointly determine a detection range of the lidar.
In an embodiment, the space of the simulation environment is generally larger than the detection range of the laser radar, and the interference particle model is configured in the detection range of the laser radar to improve the working efficiency, that is, the position information of the laser radar, the detection angle information of the laser radar and the effective acting distance information of the light emitted by the laser radar are obtained first, and the detection range of the laser radar is determined according to the position information, the detection angle information and the effective acting distance information of the emitted light of the laser radar, wherein the detection range is the acting space of the interference particles in the interference particle model to be configured, and the interference particle model is configured in the detection range. For example: the detection range of the lidar is a 5 ' space, and then the 5 ' space is an interaction space of interfering particles in the interfering particle model to be configured, and the interfering particle model is configured in the 5 ' 5 space.
In one embodiment, an interference particle model is configured in the simulation environment, wherein configuration information includes: the radius of the interfering particle, the density of the interfering particle, the initial velocity of the interfering particle, and the magnitude and direction of wind force in the wind vector field in the interfering particle model.
In step 203, at a first preset time after the movement of the interference particle, it is determined whether there is a target light path where the target interference particle moves to the light path set.
The step of determining whether there is a target interfering particle moving to a target light path in the set of light paths includes: determining position information of the interference particles, position information of the light scanning unit and position information of the scanning point; determining path information of a light path in the light path set according to the position information of the light scanning unit and the position information of the scanning point; judging whether a target light path exists in the light path set, wherein the target light path is formed by the movement of the target interference particles to the light path set; and if so, executing the step of determining the interference scanning point corresponding to the target light path.
In one embodiment, the distance L from the laser radar to the scanning point is determined according to the position information of the laser radar and the position information of the scanning point, the distance L1 from the interference particle to the scanning point is determined according to the position information of the interference particle and the position information of the scanning point, the distance L2 from the interference particle to the laser radar is determined according to the position information of the interference particle and the position information of the laser radar, and if L1+ L2= L, the interference particle is a target interference particle.
The step of determining the position information of the interfering particle includes: determining the mass of the interference particles according to the radius of the interference particles and the density of the interference particles in the configuration information; determining the acceleration of the interference particles according to the mass of the interference particles and the magnitude and direction of wind force in a wind vector field in the interference particle model; and determining the position information of the interference particles according to the initial velocity of the interference particles and the acceleration of the interference particles in the configuration information.
In an embodiment, the first preset time after the movement of the interfering particle is a certain time when the particle starts to move, and is only for distinguishing from a time of a second preset time later, where the first preset time is a time before the second preset time later, and the step of determining whether there is a target light path through which the target interfering particle moves to the light path set is to determine whether there is an interfering particle moving to the light path G1G2G3G4G5G6G7G8 shown in fig. 1 a.
In one embodiment, fig. 7 is a schematic diagram of particle motion in an interference particle model provided in the present application, wherein arrows indicate wind vector field in the interference particle model, for convenience, it is assumed that the radius of the interference particle is r, the density is p, the initial velocity is v0, v0 is equal to 0, the magnitude of wind in the wind vector field in the interference particle model is F, and the direction is the direction indicated by vector (0, 0, 2), and the mass of the interference particle is 4p/3pr2The magnitude of the acceleration of the interfering particle is 3Fpr2The direction is the direction of the vector (0, 0, 2), if the first predetermined time is T1, then the time T1, according to the velocity displacement formula, can obtain the position (0, 0, 3FT 1) of the interfering particle2pr2/6p）。
In step 204, if the interference exists, the interference scanning point corresponding to the target light path is determined.
In one embodiment, if an interfering particle moves into the light path G1G2G3G4G5G6G7G8 shown in fig. 1a, the interfering particle moving onto the light path is a target interfering point, the light path where the target interfering point is located is a target light path, the scanning point corresponding to the target light path is an interfering scanning point, assuming that the position coordinate of the laser radar is (0, 0, 5), the position coordinate of the scanning point F in the object model ABCD-EFGH is (0, 0, 0), and at a first preset time after the interfering particle moves, the position coordinate of the interfering particle 2 is (0, 0, 3), because the distance from the laser radar to the scanning point F is 5, the distance from the interfering particle 2 to the scanning point F is 3, and the distance from the interfering particle 2 to the laser radar is 2, the interfering particle 2 is on the light path G6 corresponding to the scanning point, that is: the interfering particle 2 is the target interfering point.
If the interference particle 1 and the interference particle 2 are both target interference points in the figure, the light path G2 where the target interference point 1 is located is a target light path, and the light path G6 where the target interference point 2 is located is another target light path, where the scanning point B corresponding to the target light path G2 is an interference scanning point, and the scanning point F corresponding to the target light path G6 is an interference scanning point.
In step 205, the interference scanning points are removed from the scanning point set, so as to obtain a simulated scanning point set at the first preset time.
In an embodiment, the interference scanning point B and the interference scanning point F in the content are removed from the scanning point set, and the simulated scanning point set at the first preset time is ACDEGH.
In one embodiment, after step 205, further comprising: acquiring a first quantity value of simulation scanning points in the simulation scanning point set; acquiring a second numerical value of the scanning points in the scanning point set; and determining a value obtained by dividing the first numerical value by the second numerical value as a first signal-to-noise ratio of the light scanning unit at the first preset moment.
Taking the above as an example, if the first number value of the simulated scanning points in the set of simulated scanning points is 6, and the second number value of the scanning points in the set of scanning points is 8, then the first signal-to-noise ratio K1 of the light scanning unit at the first preset time is 3/4, in practical situations, the second number value of the scanning points in the set of scanning points is far greater than the first number value of the simulated scanning points in the set of simulated scanning points, and therefore, the signal-to-noise ratio K is very small.
The method for acquiring the simulated scanning points comprises the steps of firstly carrying out light scanning on an object model in a simulated environment through a light scanning unit to obtain a scanning point set and a light path set corresponding to scanning points in the scanning point set, then configuring an interference particle model in the simulated environment according to received configuration information, judging whether target interference particles move to target light paths in the light path set at a first preset moment after the interference particles move, if so, determining the interference scanning points corresponding to the target light paths, and finally removing the disturbed scanning points from the scanning point set to obtain the simulated scanning point set at the first preset moment. Considering that interference factors such as weather conditions can greatly affect the effective detection range and precision of the light scanning unit, the interference particle model is added into the simulation system, the interference factors such as the weather conditions are simulated by using particles running in the interference particle model, the simulation data of the light scanning unit in the simulation environment configured with the interference particle model is obtained, and the truth of the simulation data is improved.
Fig. 3 is another schematic flow chart of a method for acquiring a simulated scanning point according to the present application; referring to fig. 3, the method for obtaining the simulated scanning point includes:
in step 301: and acquiring a plurality of second signal-to-noise ratios of the light scanning unit at a plurality of second preset moments.
In an embodiment, the signal-to-noise ratio k1 at the first preset time t1 is obtained as described above, the signal-to-noise ratio k2 corresponding to the second preset time is obtained according to the method described above at the second preset time t2, the signal-to-noise ratio k3 corresponding to the time t3, the signal-to-noise ratio k4 corresponding to the time t4, the signal-to-noise ratio k5 corresponding to the time t5, the signal-to-noise ratio k6 corresponding to the time t6, and the signal-to-noise ratio t6 corresponding to the time t6 are sequentially obtainednCorresponding signal-to-noise ratio k at timen（n>0) And obtaining signal-to-noise ratio trend data according to the signal-to-noise ratio corresponding to each moment, wherein t1, t2, t3, t4, t5, t6 and tnThe time interval is larger than zero, and the smaller the time interval, the more accurate the signal-to-noise ratio trend data is.
Fig. 8a is a schematic diagram of a method for calculating a matching degree between target signal-to-noise ratio trend data and signal-to-noise ratio trend data provided by the present application, and a curve 2 in fig. 8a is a signal-to-noise ratio trend curve in a simulation environment.
In step 302: and acquiring target signal-to-noise ratio trend data corresponding to the target environment.
In an embodiment, the target environment is a real weather environment, the target signal-to-noise ratio trend data corresponding to the target environment is a signal-to-noise ratio trend graph of a signal-to-noise ratio changing with time in the real weather environment, and a curve 1 in fig. 8a is a signal-to-noise ratio trend curve in the real weather environment.
In step 303: and determining configuration information of the interference particle model to be configured in the target environment according to the target signal-to-noise ratio trend data and the matching degree of the signal-to-noise ratio trend data.
In an embodiment, according to the target signal-to-noise ratio trend data and the matching degree of the signal-to-noise ratio trend data, if the matching degree is within a preset range, the configuration information of the interference particle model in the simulation environment is determined as the configuration information of the interference particle model to be configured in the target environment.
In one embodiment, as shown in fig. 8a, the target snr trend data is curve 1, the snr trend data is curve 2, and the matching degree between curve 1 and curve 2 is calculated according to the formula of
Where W represents the degree of matching, t represents time, t =1 represents at the 1 st instant, n represents at the nth instant, where n represents>0，Kn1Represents the signal-to-noise ratio, K, corresponding to curve 1 at time nn2Represents the signal-to-noise ratio for curve 2 at time n, where the time interval between times is greater than zero, as the case may be.
In one embodiment, the signal-to-noise ratio K corresponding to curve 1 is obtained at time T111Curve 2 corresponds to the signal-to-noise ratio K12(ii) a Acquiring the signal-to-noise ratio K corresponding to the curve 1 at the time T221Curve 2 corresponds to the signal-to-noise ratio K22(ii) a Acquiring the signal-to-noise ratio K corresponding to the curve 1 at the time T331Curve 2 corresponds to the signal-to-noise ratio K32Because curve 1 intersects curve 2 at time T3, the signal-to-noise ratio corresponding to curve 1 obtained at time T3 is equal to the signal-to-noise ratio corresponding to curve 2, i.e., K31= K32(ii) a Acquiring the signal-to-noise ratio K corresponding to the curve 1 at the time T441Curve 2 corresponds to the signal-to-noise ratio K42Finally, the matching degree W1= ((K) of the target signal-to-noise ratio trend data and the signal-to-noise ratio trend data11-K12）2+（K21-K22）2+（K31-K32）2+（K41-K42）2) And/4, assuming that W1 is within the preset range, determining the configuration information of the interference particle model in the simulation environment as the configuration information of the interference particle model to be configured in the target environment, wherein the matching degree calculation of the curve 1 and the curve 2 may be other methods, and is not limited herein.
In an embodiment, as can be seen from the above, different signal-to-noise ratio trend data in the simulation environment can be obtained according to different interference particle model configuration information, so that signal-to-noise ratio trend data of different interference particle model configuration information in the simulation environment can be recorded, the signal-to-noise ratio trend data in the simulation environment are stored, the matching degree between the signal-to-noise ratio trend data in each simulation environment and the target signal-to-noise ratio trend data is calculated one by one, and the interference particle model configuration information in the simulation environment corresponding to the matching degree satisfying the preset range is determined as the configuration information of the interference particle model to be configured in the target environment.
In one embodiment, as shown in fig. 8b, curve 5 is the target snr trend data corresponding to the target environment, curve 3 is the snr trend data of the configuration information of the interference particle model in mode 3, curve 4 is the snr trend data of the configuration information of the interference particle model in mode 4, curve 6 is the snr trend data of the configuration information of the interference particle model in mode 6, the matching degree between the two curves is obtained according to the matching degree calculation method, the matching degree between the curve 5 and the curve 3 is W2, the matching degree between the curve 5 and the curve 4 is W3, and the matching degree between the curve 5 and the curve 6 is W4, whether the matching degrees W2, W3 and W4 are within a preset matching degree range is respectively judged, if W3 is within the preset range, the configuration information of the interference particle model of the mode 4 corresponding to the curve 4 is determined as the configuration information of the interference particle model to be configured in the target environment.
The method for acquiring the simulated scanning point includes acquiring a plurality of second signal-to-noise ratios of the light scanning unit at a plurality of second preset times, where the second preset times are second preset times after movement of the interfering particle, determining signal-to-noise ratio trend data corresponding to the simulated environment according to the first signal-to-noise ratio, the plurality of second signal-to-noise ratios, the first preset time and the plurality of second preset times, acquiring target signal-to-noise ratio trend data corresponding to a target environment, and determining configuration information of an interfering particle model to be configured in the target environment according to the target signal-to-noise ratio trend data and a matching degree of the signal-to-noise ratio trend data. The signal-to-noise ratio data of the interference particle model under different parameter configurations in the simulation environment are recorded, and the interference particle model parameters meeting the signal-to-noise ratio corresponding to the real environment can be found directly by calculating the matching degree of the signal-to-noise ratio data under the simulation environment and the signal-to-noise ratio data under the real environment.
In order to better implement the method for acquiring the simulated scanning point provided by the application, the application also provides a device based on the method for acquiring the simulated scanning point. The terms are the same as those in the above-described method for acquiring a simulated scanning point, and details of implementation may refer to the description in the method embodiment.
Fig. 4a is a schematic structural diagram of an apparatus for acquiring a simulated scanning spot provided in the present application, and referring to fig. 4a, the apparatus for acquiring a simulated scanning spot includes the following units:
the scanning unit 401 is configured to perform light scanning on the object model in the simulation environment through the light scanning unit to obtain a scanning point set and a light path set corresponding to a scanning point in the scanning point set;
a configuration unit 402, configured to configure an interference particle model in the simulation environment according to the received configuration information, where an interference particle in the interference particle model is a moving particle;
a determining unit 403, configured to determine, at a first preset time after the movement of the interference particle, whether a target light path in the light path set exists through which the target interference particle moves;
a first determining unit 404, configured to determine, if the interference scanning point exists, an interference scanning point corresponding to the target light path;
and the eliminating unit 405 is configured to eliminate the interference scanning points from the scanning point set to obtain the simulated scanning point set at the first preset time.
Optionally, in some possible embodiments of the present application, the configuration unit 402 is specifically configured to determine an action space of an interfering particle in an interfering particle model to be configured; configuring the interference particle model in the action space of the simulation environment. Wherein, the step of determining the action space of the interference particles in the interference particle model to be configured comprises: acquiring a detection range of the light scanning unit; and determining the detection range as an action space of the interference particles in the interference particle model to be configured.
Optionally, in some possible embodiments of the present application, the determining unit 403 is specifically configured to determine position information of the interfering particle, position information of the light scanning unit, and position information of the scanning point; determining path information of a light path in the light path set according to the position information of the light scanning unit and the position information of the scanning point; judging whether a target light path exists in the light path set, wherein the target light path is formed by the movement of the target interference particles to the light path set; and if so, executing the step of determining the interference scanning point corresponding to the target light path.
Wherein the step of determining the position information of the interfering particle comprises: determining the mass of the interference particles according to the radius of the interference particles and the density of the interference particles in the configuration information; determining the acceleration of the interference particles according to the mass of the interference particles and the magnitude and direction of wind force in a wind vector field in the interference particle model; and determining the position information of the interference particles according to the initial velocity of the interference particles and the acceleration of the interference particles in the configuration information.
Fig. 4b is another schematic structural diagram of the apparatus for acquiring a simulated scanning spot provided in the present application, please refer to fig. 4b, which includes the following units:
the scanning unit 401 is configured to perform light scanning on the object model in the simulation environment through the light scanning unit to obtain a scanning point set and a light path set corresponding to a scanning point in the scanning point set;
a configuration unit 402, configured to configure an interference particle model in the simulation environment according to the received configuration information, where an interference particle in the interference particle model is a moving particle;
a determining unit 403, configured to determine, at a first preset time after the movement of the interference particle, whether a target light path in the light path set exists through which the target interference particle moves;
a first determining unit 404, configured to determine, if the interference scanning point exists, an interference scanning point corresponding to the target light path;
and the eliminating unit 405 is configured to eliminate the interference scanning points from the scanning point set to obtain the simulated scanning point set at the first preset time.
A second determining unit 406, configured to determine a first signal-to-noise ratio of the light scanning unit at the first preset time.
In one embodiment, the second determining unit 406 includes:
a first obtaining sub-unit block 4061, configured to obtain a first quantity value of the simulated scanning points in the set of simulated scanning points;
a second obtaining subunit 4062, configured to obtain a second numerical value of the scanning points in the scanning point set;
a second determining subunit 4063, configured to determine a value obtained by dividing the first numerical value by the second numerical value as a first signal-to-noise ratio of the optical line scanning unit at the first preset time.
Fig. 5 is another schematic structural diagram of an apparatus for acquiring a simulated scanning spot provided in the present application, please refer to fig. 5, in which the apparatus for acquiring a simulated scanning spot includes the following units:
a third obtaining unit 501, configured to obtain a plurality of second signal-to-noise ratios of the light scanning unit at a plurality of second preset times, where the second preset times are second preset times after the interfering particles move;
a third determining unit 502, configured to determine, according to the first signal-to-noise ratio, the plurality of second signal-to-noise ratios, the first preset time, and the plurality of second preset times, signal-to-noise ratio trend data corresponding to the simulation environment;
a fourth obtaining unit 503, configured to obtain target signal-to-noise ratio trend data corresponding to a target environment;
a fourth determining unit 504, configured to determine configuration information of an interference particle model to be configured in the target environment according to the target signal-to-noise ratio trend data and the matching degree of the signal-to-noise ratio trend data.
The specific implementation of each unit can refer to the previous embodiment, and is not described herein again.
Accordingly, the present application also provides an electronic device, as shown in fig. 9, which may include Radio Frequency (RF) circuitry 901, a memory 902 including one or more computer-readable storage media, an input unit 903, a display unit 904, a sensor 905, an audio circuit 906, a Wireless Fidelity (WiFi) module 907, a processor 908 including one or more processing cores, and a power supply 909. Those skilled in the art will appreciate that the server architecture shown in FIG. 9 does not constitute a limitation on the servers, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components. Wherein:
The display unit 904 may be used to display information input by or provided to the user and various graphical user interfaces of the server, which may be made up of graphics, text, icons, video, and any combination thereof.
The server may also include at least one sensor 905, such as light sensors, motion sensors, and other sensors. The audio circuitry 906 includes speakers that can provide an audio interface between the user and the server.
WiFi belongs to short-distance wireless transmission technology, and the server can help a user to receive and send e-mails, browse webpages, access streaming media and the like through the WiFi module 907, and provides wireless broadband internet access for the user. Although fig. 9 shows the WiFi module 907, it is understood that it does not belong to the essential constitution of the server, and may be omitted entirely as needed within the scope of not changing the essence of the application.
The processor 908 is the control center of the server, connects various parts of the entire handset using various interfaces and lines, and performs various functions of the server and processes data by running or executing software programs and/or modules stored in the memory 902 and calling data stored in the memory 902, thereby performing overall monitoring of the handset.
The server also includes a power supply 909 (such as a battery) that provides power to the various components, which may preferably be logically connected to the processor 908 via a power management system, such that the functions of managing charging, discharging, and power consumption are performed via the power management system.
Although not shown, the server may further include a camera, a bluetooth module, etc., which will not be described herein. Specifically, in this embodiment, the processor 908 in the server loads the executable file corresponding to the process of one or more application programs into the memory 902 according to the following instructions, and the processor 908 runs the application programs stored in the memory 902, so as to implement the following functions:
performing light scanning on an object model in a simulation environment through a light scanning unit to obtain a scanning point set and a light path set corresponding to scanning points in the scanning point set; configuring an interference particle model in the simulation environment according to the received configuration information, wherein interference particles in the interference particle model are moving particles; at a first preset moment after the interference particles move, judging whether a target light path in the light path set exists or not when the target interference particles move; if so, determining an interference scanning point corresponding to the target light path; and removing the interference scanning points from the scanning point set to obtain a simulation scanning point set at the first preset moment.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed description, and are not described herein again.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
To this end, the present application provides a storage medium having stored therein a plurality of instructions that are loadable by a processor to cause the following functions:
performing light scanning on an object model in a simulation environment through a light scanning unit to obtain a scanning point set and a light path set corresponding to scanning points in the scanning point set; configuring an interference particle model in the simulation environment according to the received configuration information, wherein interference particles in the interference particle model are moving particles; at a first preset moment after the interference particles move, judging whether a target light path in the light path set exists or not when the target interference particles move; if so, determining an interference scanning point corresponding to the target light path; and removing the interference scanning points from the scanning point set to obtain a simulation scanning point set at the first preset moment.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
Wherein the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the computer-readable storage medium can execute the steps in any one of the methods for acquiring a simulated scanning point provided by the present application, the beneficial effects that can be achieved by any one of the methods for acquiring a simulated scanning point provided by the present application can be achieved, which are detailed in the foregoing embodiments and will not be described herein again. Also, the present application provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above. For example, the following functions are implemented:
performing light scanning on an object model in a simulation environment through a light scanning unit to obtain a scanning point set and a light path set corresponding to scanning points in the scanning point set;
configuring an interference particle model in the simulation environment according to the received configuration information, wherein interference particles in the interference particle model are moving particles;
at a first preset moment after the interference particles move, judging whether a target light path in the light path set exists or not when the target interference particles move;
if so, determining an interference scanning point corresponding to the target light path;
and removing the interference scanning points from the scanning point set to obtain a simulation scanning point set at the first preset moment.
The above detailed description is given to the method, the apparatus, the electronic device, and the storage medium for acquiring a simulated scanning point, and a specific example is applied in the present disclosure to explain the principle and the implementation of the present disclosure, and the description of the above embodiment is only used to help understand the technical solution and the core idea of the present disclosure; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.
Claims (10)
1. A method for acquiring a simulated scanning point is characterized by comprising the following steps:
performing light scanning on an object model in a simulation environment through a light scanning unit to obtain a scanning point set and a light path set corresponding to scanning points in the scanning point set;
configuring an interference particle model in the simulation environment according to the received configuration information, wherein interference particles in the interference particle model are moving particles;
at a first preset moment after the interference particles move, judging whether a target light path in the light path set exists or not when the target interference particles move;
if so, determining an interference scanning point corresponding to the target light path;
and removing the interference scanning points from the scanning point set to obtain a simulation scanning point set at the first preset moment.
2. The method of claim 1, wherein the step of determining whether there is a target interfering particle moving to a target light path in the set of light paths comprises:
determining position information of the interference particles, position information of the light scanning unit and position information of the scanning point;
determining path information of a light path in the light path set according to the position information of the light scanning unit and the position information of the scanning point;
judging whether a target light path exists in the light path set, wherein the target light path is formed by the movement of the target interference particles to the light path set;
and if so, executing the step of determining the interference scanning point corresponding to the target light path.
3. The method for acquiring a dummy scan spot according to claim 2, wherein the step of determining the position information of the interfering particle comprises:
determining the mass of the interference particles according to the radius of the interference particles and the density of the interference particles in the configuration information;
determining the acceleration of the interference particles according to the mass of the interference particles and the magnitude and direction of wind force in a wind vector field in the interference particle model;
and determining the position information of the interference particles according to the initial velocity of the interference particles and the acceleration of the interference particles in the configuration information.
4. The method of claim 1, wherein the step of configuring the model of interfering particles in the simulation environment comprises:
determining an action space of interference particles in an interference particle model to be configured;
configuring the interference particle model in the action space of the simulation environment.
5. The method for acquiring a dummy scan spot according to claim 4, wherein the step of determining the action space of the interference particle in the interference particle model to be configured comprises:
acquiring a detection range of the light scanning unit;
and determining the detection range as an action space of the interference particles in the interference particle model to be configured.
6. The method for acquiring the simulated scanning spot as claimed in any one of claims 1 to 5, wherein after the step of removing the interference scanning spot from the scanning spot set to obtain the simulated scanning spot set at the first preset time, the method further comprises:
acquiring a first quantity value of simulation scanning points in the simulation scanning point set;
acquiring a second numerical value of the scanning points in the scanning point set;
and determining a value obtained by dividing the first numerical value by the second numerical value as a first signal-to-noise ratio of the light scanning unit at the first preset moment.
7. The method for acquiring a dummy scanning spot according to claim 6, wherein said method for acquiring a dummy scanning spot further comprises:
acquiring a plurality of second signal-to-noise ratios of the light scanning unit at a plurality of second preset moments, wherein the second preset moments are second preset moments after the interference particles move;
determining signal-to-noise ratio trend data corresponding to the simulation environment according to the first signal-to-noise ratio, the second signal-to-noise ratios, the first preset time and the second preset times;
acquiring target signal-to-noise ratio trend data corresponding to a target environment;
and determining configuration information of an interference particle model to be configured in the target environment according to the target signal-to-noise ratio trend data and the matching degree of the signal-to-noise ratio trend data.
8. An apparatus for acquiring a simulated scanning spot, comprising:
the scanning unit is used for carrying out light scanning on the object model in the simulation environment through the light scanning unit to obtain a scanning point set and a light path set corresponding to scanning points in the scanning point set;
a configuration unit, configured to configure an interference particle model in the simulation environment according to the received configuration information, where an interference particle in the interference particle model is a moving particle;
the judging unit is used for judging whether a target light path exists at a first preset moment after the interference particles move and the target light path in the light path set is moved;
the first determining unit is used for determining an interference scanning point corresponding to the target light path if the interference scanning point exists;
and the eliminating unit is used for eliminating the interference scanning points from the scanning point set to obtain the simulation scanning point set at the first preset moment.
9. An electronic device comprising a processor and a memory, wherein the memory stores a plurality of instructions adapted to be loaded by the processor to perform the steps of the method of acquiring a phantom scanning point according to any of claims 1 to 7.
10. A computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the steps of the method of acquiring a simulated scanning spot as claimed in any one of claims 1 to 7.
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